Page 1 Operation Manual Functions I (Point Teaching) Thank you for purchasing this Janome Robot. • Before using this robot, read this manual thoroughly and always make sure you use the robot correctly. In particular, be sure to thoroughly read “For Your Safety” as it contains important safety information.
Page 2 PREFACE This manual covers the JR3200, JR3300, JR3400, JR3500, JR3600, JC-3, and the JS3 Series. There are several manuals pertaining to these robots. Manual Details JR3000 JC-3 JS3 • For Your Safety Be sure to thoroughly read “For Your Safety” as it contains important safety information.
Page 3 Warning Do not handle or operate the robot in ways not covered in the manuals listed here. Contact Janome (listed on the back of this manual) for repairs. Failure to do so can cause electric shock or injury. Caution To make full use of the machine’s functions and capabilities, make sure that you...
Page 4 • For information regarding optional additions for this robot, refer to "24. Specifications" in the operation manual Specifi cations for the JR3000 Series,“14. Specifications” in the operation manual Specifi cations for the JC-3 Series, and "15. Specifications" in the operation manual Basic Intructions for the JS3 Series.
Page 5 12. MOVE AREA LIMIT ......................... 78 13. ABSOLUTE, RELATIVE & MOVING AMOUNT (POSITION DATA TYPES) ......79 14. WORKPIECE MASS (JR3000 Series Only) ................81 15. COMMON DATA (JS3 Series Only) ..................82 15.1 Evasion Points of Going Home ..................82 16.
Page 6 16.1 PTP Point ........................... 84 16.2 PTP Evasion Point ......................85 17. CP MOVEMENT ........................86 17.1 Linear Movement ....................... 86 17.2 Arc Movement ........................86 17.2.1 Countermeasures for the CP Speed Exceeded Error with a CP Arc Point ....87 17.3 Circle Start Points and Circle Center Points ..............
Page 7 FOR YOUR SAFETY The safety notes outlined below are provided in order to ensure safe and correct usage of the product in addition to preventing injury to the operator, other people and damage to property as well. ・・・・・Be sure to follow the safety guidelines detailed here・・・・・ Symbols are also listed alongside the safety note explanations.
Page 8 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ If using auxiliary axis functions to operate a motor, such as a servo motor, that produces feedback and/or a motor with high output etc., or when using auxiliary axes in the robot setup etc., we ask that you perform a risk assessment on your side and take any necessary safety measures.
Page 9 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ If Using Auxiliary Axis Functions in a Way that Require Safety Measures Danger When power to the robot is ON, never enter the safety guard or put your head, hands, or any part of your body inside.
Page 10 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ If Using Auxiliary Axis Functions in a Way that Require Safety Measures Warning Construct safety guards that are strong enough to protect the operator against such dangers as the tool or workpiece splintering, etc.
Page 11 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ Danger Do not use where ﬂammable or corrosive gas is present. Leaked gas accumulating around the unit causes explosions or fire. Warning Make sure that you securely install the unit in a place that can fully withstand both the unit’s weight and its usage.
Page 12 IP Protection Rating: IP20. If anything unusual occurs, such as a burning smell or unusual sound, stop operation and unplug the power cord immediately. Contact Janome (details on the back of this manual) or a Janome dealer. Continuing to use the robot without addressing the problem causes electric shock, fire, or unit breakdown.
Page 13 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ Caution Do not drop or jar the unit during transport and/or installation. This can cause injury or damage the unit. Before performing any operation, ensure there is no imminent danger to any of the operators. Failure to do so causes injury.
Page 14 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ Caution When attaching tools, a USB camera, or any other device, make sure they are securely ﬁtted before running the robot. Failure to do so causes injury or breakdown. When using the machine for extended periods of time, check and make sure none of the main unit’s mounting screws are loose, and perform a routine...
Page 15 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Industrial Robot Safety Standards Make sure to use the robot in accordance with the laws and guidelines of the country where it is used. Functions I (Point Teaching) Desktop Robot JR3000 Cartesian Robot JC-3 SCARA Robot JS3...
Page 16 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Danger Do not use where ﬂammable or corrosive gas is present. Leaked gas accumulating around the unit causes explosions or fire. Always set up safety guards. Anyone within the maximum reach of the robot may be injured. Using the included EMG OUT connector, set up an emergency stop interlock system that is triggered when the entrance to the safety guard is opened and make sure this entrance is the only way to access the machine.
Page 17 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Danger Construct a safety circuit before operating the robot. Use the EMG OUT connector to maintain safety by installing a relay such as an external stop device on the power supply line which cuts the DC 48 V power input. Construct the safety circuit so it operates as a category 0 stop when the emergency stop switch is pressed.
Page 18 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Danger Keep the emergency stop switch within reach of the operator when running or operating the robot. If the robot is operated when the emergency switch is not within reach, it may not be possible to stop the robot immediately and safely.
Page 19 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Warning With the 3 axis speciﬁcations, if releasing the brake, do so after either removing the attached tool or taking measures to prevent the tool from dropping. If you release the brake when turning the power ON in Teaching Mode, Switch Run Mode, or External Run Mode, the axis may drop down depending on the mass attached to the Z axis.
Page 20 If anything unusual occurs, such as a burning smell or unusual sound, stop the run, unplug the controller power cord from the power outlet, and make sure there is no electrical current. Contact Janome (details on the back of this manual) or a Janome dealer.
Page 21 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Caution When using the machine for extended periods of time, check and make sure none of the main unit’s mounting screws are loose, and perform a routine inspection every 3 months or after every 750 hours of operation. Failure to do so causes injury or breakdown.
Page 22 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Industrial Robot Safety Standards Make sure to use the robot in accordance with the laws and guidelines of the country where it is used. Functions I (Point Teaching) Desktop Robot JR3000 Cartesian Robot JC-3 SCARA Robot JS3...
Page 23 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Safety Precautions Regarding Installation Robot Unit Danger Anyone within the maximum reach of the robot may be injured. Install safety guards in adherence with the following: • The safety guards cannot easily be moved. •...
Page 24 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Danger Do not remove the ﬁxing plates from the robot arm until after transportation is complete. Failure to do this can cause injury or breakdown. If temporarily placing the robot on a mount, etc., make sure to secure the robot to the mount by tightening 2 or more bolts into the mounting holes on the mounting base to prevent the robot from tipping over.
Page 25 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Warning Avoid using the robot in operating environments such as the ones below. If using the robot in environments such as these, take measures to protect the robot from the direct effects of the work environment. •...
Page 26 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution Firmly fix the robot to a specified horizontal mounting surface using the mounting bolts and make sure that positional displacements cannot occur. Install the robot in a location that provides enough clearance to replace the battery at the front of the robot and enough clearance to connect the motor power cable and the encoder cable to the back of the robot.
Page 27 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution If connecting cables or hoses to the hand, make sure they do not restrict the robot movements and make sure the robot operations do not cause the cables or hoses to get tangled and/or cause them to break. Improperly attached cables or hoses can cause breakdown.
Page 28 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Warning Make sure to isolate the robot motor power cable, the encoder cable, and external I/O cables from the power cable or grounding wire of other devices. Also make sure the external I/O cables are shielded. Do not apply voltages to terminals other than those specified in the operation manuals.
Page 29 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution Use the unit in an environment where no electrical noise is present. Noise may cause unit malfunction or breakdown. Do not use the machine in an environment that is damp or dusty. Dust and moisture can cause malfunction or breakdown.
Page 30 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Controller Danger Mount the controller outside of the safety guards in a location where the switches can easily be reached and the controller can always be monitored by the operator without turning their back on the robot unit itself. Mount the controller so that the operation panel is 600 mm or more above ﬂoor level for maintenance work.
Page 31 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Warning Leave approximately 200 mm or more clearance from the front of the controller so there is no stress on the connectors and enough room to work. Failure to do so can cause malfunction or breakdown. In addition to the clearance required for installation, leave sufficient space around the controller for removing covers (with a screwdriver) as a contingency for maintenance work.
Page 32 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution Do not apply pressure to any protruding parts, such as a switch, the terminal block, or a connector when transporting the controller. Doing so can cause breakdown. If you want to use the controller, operation box (optional), or teaching pendant as a monitor while in Run Mode, mount the respective device 600 mm or more above ﬂoor level in an easily accessible place so that the emergency stop switch can be immediately reached in the event of an emergency.
Page 33 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Safety Precautions Regarding Usage Robot Unit Warning If objects that the robot grasps have a risk of falling or being projected, take into account the size, mass, and chemical composition of the objects for the required safety precautions.
Page 34 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution If manually moving the robot arm, do so slowly. Moving the arm at high speed can cause large amounts of backlash, reducing the robot’s accuracy and damage the backup data. Depending on the arm pose, the shaft may come in contact with the robot base even when operating the robot within the work envelope.
Page 35 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Robot Unit and Controller Danger When power to the robot is ON, never enter the safety guard or put your head, hands, or any part of your body inside. Entering the safety guards could result in injury. When changing modes or starting a run, first confirm there are no people inside of the safety guard and there are no obstacles that could interfere with the run.
Page 36 OFF. Unplug the power cord after conﬁrming there is no power supplied to the robot and then contact Janome or a Janome dealer. Continuing to use the robot without addressing the problem causes electric shock, fire, or unit breakdown.
Page 37 Diagnostic Mode and Mechanical Adjustment Mode are for maintenance personnel* use only. * Maintenance personnel are individuals who have received maintenance training from Janome or from a Janome dealer. Functions I (Point Teaching)
Page 38 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Controller Warning Do not touch the terminal block when there is an electrical current present. Touching the terminal block can result in electric shock or injury. Caution Keep the emergency stop switch within reach of the operator when running or operating the robot.
Page 39 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Safety Precautions Regarding Maintenance Robot Unit Warning Do not touch or come in contact with any potentially hot components on the robot. Doing so can result in burns and serious accidents. The servomotor may get hot. Do not touch or come in contact with the servomotor while the power is ON, only do so when the power is OFF and after it has cooled down.
Page 40 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Robot Unit and Controller Danger If entering the safety guards, turn the power source circuit breaker OFF, lock and tag it, and then make sure there is no power supplied to the robot before continuing.
Page 41 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Warning When inspecting or performing maintenance on the controller, make sure there is no electrical current and perform the following: • Lockout/tagout with the power source circuit breaker in the OFF position, and remove the power cords from the terminal block. •...
Page 42 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution For a smooth and long operating life, lubricate the shaft once for every 2,000 km the robot is run. If the robot is run for 24 hour periods, lubricate the machine more frequently because the running time between lubrication periods is longer.
Page 43 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Controller Danger Before entering the safety guard because of something wrong with the robot or a peripheral device, or to inspect or lubricate the machine etc., always make sure to turn the controller and power source circuit breakers OFF, lock and tag them, and make sure there is no electrical current.
Page 44 1. PROGRAM You can make the robot do various operations by performing program runs. A program is made up of “individual program settings” and “point data”. Individual program settings are settings for controlling the programs themselves and can be set to each program individually.
Page 45 Common/ Settable Item Details Individual Conversion Position Data The coordinate type held by the point data. There are the 3 Individual only Type types below. Absolute Position data values used to indicate the robot’s fixed coordinates. Coordinates Relative Position data values used to indicate the distance from the program start Coordinates* coordinates.
Page 46 *1: A setting which registers the position data type as a relative coordinate or a moving amount is normally used when calling up that data from another program as a subprogram. If this type of data is used individually, the robot may move out of its work range. *2: Workpiece Mass is not available for the JC-3/JS3 Series.
Page 47 J.EXEC P.EXEC displayed here. point type. JR3000 Series (4-axis model) base screen example: point settings screen Point data contains the following items: Coordinates X (righty/lefty), Y (righty/lefty), Z, R Point coordinate (X, Y, Z, R) data. (R is for 4 axis specifications only).
Page 48 (2) CP Start Point The point where the robot changes from a PTP movement and starts a CP movement. The main tool TCP tool data is applied for this point. (3) CP Passing Point The point where the robot changes direction in CP movement. The robot moves to the next point at the same speed as it did from the previous point.
Page 49 (11) Single Camera Shoot Point The robot makes a PTP movement and photographs marks on the workpiece. The adjustment values from the workpiece adjustment data set in [Ref. Work Adj. No.] are applied. You can use these workpiece adjustments by setting them to PTP Points, etc. By applying [No Tool] tool data to this point, the robot does not deviate from the taught position.
Page 50 (15) User Definition Type Point types can be created in Customizing Mode. These created point types are called “user-defined” types. (In contrast, point type items 1 – 9 are called “base” point types.) When you create a user-defined point type, the method of moving to the next point, etc., is the same as the base point type it is based on.
Page 51 The items that can be set to a given point vary depending on the point type, as shown below. (: can be set, blank: cannot be set) Job/Additional function data Point Type PTP Point       ...
Page 52 1.2 Running Programs You can operate the robot in various ways by running programs. A basic operation is “to move from Point 1 to the last point in numerical order and to perform point jobs according to the point job data set to each point”. (See below) The point job data performed at a point is data independent from programs.
Page 53 2. POINT DATA 2.1 New Input Press the PRG.NO key on the teaching pendant base screen Input Coordinates and enter the program number you want to teach. (Position) If you select a new program, the New Position Input screen appears for point number 1. Select Point Type Input the coordinates (position) and the point type to display the New Position Input screen for the next point.
Page 54 2.2 Modifying Point Data If you want to modify point data, first pull up the value settings screen for the point that you want to modify. To specify a point number, select the first line Program 1 Tool Main Tool and enter a point number.
Page 55 The maximum line speed is shown in the table below. However, if the distance moved is short, etc., and movement stops before the robot reaches the specified speed, a “CP Speed Over” error occurs. If this occurs, reduce the line speed. JR3000 Series JC-3 Series* JS3 Series...
Page 56 F0 (DEL) Key: The Number Input screen appears for the point job/additional function data to delete. Enter the number of the point job/additional function data you want to delete. You can also select the number to delete by pressing the F3 (LIST) key. F1 (COPY) Key: The Source Program Number Input screen of the point job/additional function data appears.
Page 57 On the point value settings screen of the teaching pendant, if you move the highlight-bar to a blank row, point jobs and/or additional functions which can be assigned to that point are displayed. (Depending on the point type, information may run onto page 2.) Program 3 Tool Main Tool...
Page 58 3. PROGRAM NAME You can name registered programs so as to identify the contents. Existing program names can also be modified. MENU [Individual Program Settings] [Program Name] [Program] → [Individual Program Settings] → [Program Name] NOTE: A program name entry column appears in the dialog for adding programs (if adding a new program) Depending on what kind of characters you are using, you can use 40 –...
Page 59 4. PTP CONDITION NUMBER FOR HOME (JC-3/ JS3 Series Only) This item sets the speed, etc., for the movement back to the work home when the I/O input signal [Go Home] comes ON. Select this number from [PTP Condition Settings] [PTP Condition Number] in the additional function settings •...
Page 60 5. WORK HOME The work home is the point to where the robot returns and waits for the next start command after running the last point of the program with 1 Cycle Playback. The work home is the point to where the robot returns and waits for the next start command after running the last point of the program with continuous playback only if the Last Work command (#sysIn11 (JR3000), #sysIn13 (JC-3/JS3) is ON.
Page 61 5.2 Point Job Data and Additional Function Data A [Job after Moving] set to the work home is performed at the work home position coordinates only when the tool center point is on the work home position after a cycle of operation. [Job before Moving] and [Job while Moving] set to the work home are performed when returning to the work home from the last point after a cycle of operation.
Page 62 6. INDIVIDUAL JOB ON START OF CYCLE [Individual Job on Start of Cycle] is performed when a run of the set point job data number starts. Unlike the Run Mode job [Common Job on Start of Cycle]; different kinds of point job data can be set to each program using [Individual Job on Start of Cycle].
Page 63 After running the last point in the selected program, the robot returns to point 1 and the run repeats. If a Last Work command (#sysIn11 for JR3000 Series, #sysIn13 for JC-3/JS3 Series) is ON when the robot runs the last point in the program, the robot returns to the work home position and stops operation.
Page 64 8. PTP CONDITION (PROGRAM DATA) PTP Conditions (Program Data) are condition settings for movement between points (PTP movements) in a program. If you modify the PTP conditions (Program Data), all of the PTP speeds and arch motions for that program are modified. If you wish to make a modification between specific points, teach the additional function data [PTP Condition] and set it to the points you want.
Page 65 ■ R-Axis Acceleration This is the acceleration or deceleration speed limit to rotate or stop the R-axis in PTP movement. It is definable as a percentage of the maximum acceleration (1 – 100 %). (Only available for 4-Axis specification models) ■...
Page 66 8.2 JS3 Series There are the following 14 settings for PTP conditions. ■ J1 Speed Limit ■ J1 Acceleration Limit ■ J2 Speed Limit ■ J2 Acceleration Limit ■ J3 Speed Limit ■ J3 Acceleration Limit ■ J4 Speed Limit ■...
Page 67 ■ Z Down Distance or Start Down Position • Z Down Distance: Descending distance of the Z-axis with the X and Y-axes constant • Start Down Position: Z-axis coordinate of the position where the Z-axis starts to descend after X and Y movements finish. Arch Motion of a PTP Movement Z= 0 Horizontal Move Position...
Page 68 ■ Acceleration Mode You can select either [S-Form] or [Constant] Constant S-Form Acceleration Acceleration Time Time S-Form Constant Speed Speed Time Time If you change the Acceleration Mode without changing the [PTP Speed], the arrival time to the target coordinates will be approximately the same. With [S-Form] (Ap), the robot moves at a peak acceleration of π...
Page 69 9. CP CONDITION (PROGRAM DATA) CP conditions (Program Data) are condition settings for movement between points (CP movement) in a program. If you modify CP conditions (Program Data), all of the CP speeds and acceleration speeds for that program are modified. If you want to modify the CP speed or acceleration between specific points, teach the additional function data [CP Condition] and set it to the desired points.
Page 70 10. TOOL DATA Tool data is used to set the characteristics of each tool attached to the robot. If tool data is set according to the characteristics for tools such as the needle (dispensing syringe) or screwdriver, camera, and height sensor, you can point each of the tool tips to the same location on a workpiece by simply switching among the tool data.
Page 71 ■ Tool Mass This [Tool Mass] refers to the total mass of the tool and of the object which the tool is holding. Make sure this mass is equal to or lower than the registered mass. NOTE: The JC-3 Series does not have this settable item. Tool Mass Menu Item Model JR3203...
Page 72 Tool Position During Teaching first time then. Example: JR3000 Series ■ TCP-deltaZ After changing tools etc., if the tool height is different from the registered tool center point position, enter the Z-direction difference to TCP-deltaZ.
Page 73 10.2 JR3000/JC-3 Series (4-Axis Model) The following settings are in [Tool Data]: • Tool Mass (mass affecting the Y axis) • TCP-X: The X direction distance from the R axis center to the tool tip. • TCP-Y: The Y direction distance from the R axis center to the tool tip. •...
Page 74 Tool Tip R Axis Model Acceptable Moment of Inertia Center JR3204 65 kg/m Example: JR3000 Series JR3304 – JR3604 90 kg/cm Model Acceptable Moment of Inertia 4 Axes Double Sided JC-3 90kg/cm ■ TCP-ΔZ After changing the tool etc., if the tool tip height is different from the registered tool center...
Page 75 10.3 JS3 Series (4-Axis Model) The following settings are in [Tool Data]: • Tool Mass (mass affecting the Y axis) • TCP-X: The X (J1) direction distance from the R (J4) axis center to the tool tip. • TCP-Y: The Y (J2) direction distance from the R (J4) axis center to the tool tip. •...
Page 76 ■ TCP-X, TCP-Y The TCP (tool center point) is the X (J1) and Y (J2) direction distance from the R (J4) axis center to the tool tip. With [Direct TCP-XY Setting], you can automatically calculate and set the [TCP-X] and [TCP-Y] values by indicating the same point twice with the tool tip (from different R (J4) axis angles).
Page 77 ■ TCP-ΔZ After changing the tool etc., if the tool tip height is different from the registered tool center point position, enter the Z-direction difference to TCP-ΔZ. 10.4 Main Tool Conﬁguration The main tool refers to the primary tool used in job content and for jobs. Tool data for the main tool needs to be set according to the job content and application.
Page 78 11. CAMERA CONFIGURATION NOTE: This is under development for the JS3 Series. The camera refers to a camera used for adjusting the positions of main tool point jobs in program runs. Configure the camera when you want to make position adjustments using a camera during program runs.
Page 79 12. MOVE AREA LIMIT You can make settings so that it is not possible for robot axes to move past certain coordinates. This is referred to as the “Move Area Limit”. You can set a move area limit for each program. If the robot exceeds the move area limit during operation, an error occurs and the run stops.
Page 80 13. ABSOLUTE, RELATIVE & MOVING AMOUNT (POSITION DATA TYPES) The handling of coordinates (position data) included in point data can be selected from among three types: [Absolute], [Relative], or [Moving Amount]. The default is set to [Absolute]. • Absolute: Handles position data values as indicators of the robot’s fixed coordinates. •...
Page 81 You can set [Position Data Type] as a default all program common settings. Customizing Mode [Teaching Mode Customizing] [All Program Common Default Settings] [Position Data Type] [Set T.M.C.] → [Default All Program Common Settings] → [Individual Data] → [Position Data] You can convert a program created with [Absolute] coordinates to [Relative] coordinates (convert the coordinate values from point 1 to the last point into relative coordinate values.) EDIT [Convert to Relative Coordinates]...
Page 82 14. WORKPIECE MASS (JR3000 Series Only) The workpiece mass equals the total weight carried by the X-Table. If the total mass carried by the X-table exceeds 5 kg, set [Workpiece Mass] to [10 kg]; if the mass exceeds 10 kg, set [Workpiece Mass] to [15 kg]. The settings in the table below can be made.
Page 83 15. COMMON DATA (JS3 Series Only) These settings are common to all programs. The common data menu item names and content varies depending on the application model of your robot. Also refer to the operation manual pertaining to the application model of your robot. 15.1 Evasion Points of Going Home This function is for the JS3 Series only.
Page 84 ■ Example Evasion Point of Going Home J2 Arm Evasion Point J1 Arm of Going Home Work Home Movement Path The gray areas indicate the robot arm. θ θ θ Stop Location Evasion Point θ of Going Home Evasion Point of Going Home θ...
Page 85 16. PTP MOVEMENT “PTP” stands for “Point to Point”. The robot ascends vertically, moves in the X or Y direction, and descends vertically to the next point (arch motion). XY Movement Vertical Vertical Ascent Descent All axis movements are either PTP movements or CP movements, depending on the point type settings in point data.
Page 86 16.2 PTP Evasion Point Set the point type [PTP Evasion Point] to evade any obstacles during movement to the next point. To evade moving upward (skip over an obstacle), you can also set the additional function data [PTP Condition]. P4: PTP Evasion Point PTP Evasion Point To evade moving upwards To evade moving sideways...
Page 87 17. CP MOVEMENT “CP” stands for “Continuous Path”. Make “CP Movements” when you want to move the axis in a straight line or in an arc, or when you want to move without using an arch motion. Axis movements are either PTP movements or CP movements, depending on the point type settings in point data.
Page 88 17.2.1 Countermeasures for the CP Speed Exceeded Error with a CP Arc Point We recommend placing a CP Arc Point approximately in the middle of the arc. If a CP Arc Point is placed too close to either the previous point or the subsequent point, error number 22 “CP Speed Over”...
Page 89 17.3 Circle Start Points and Circle Center Points (1) Circle Start Point (2) Circle Center Point By setting a circle start point → circle center point consecutively you can draw a circle or an arc (CP movement). Set [Line Speed] to the Circle Start Point and set [Circle Angle] to the Circle Center Point.
Page 90 18. POINT JOBS Point job data is a set of commands and/or logical operations performed at points. Set point data with point job data numbers and when you run the robot it does the point job data set to those numbers. You can set up to four point jobs to one point: [Job before Moving], [Job while Moving], [Job after Moving] and [Job while CP Moving], which are each executed with separate timing.
Page 91 After creating point job data, set that number to points you want with that point job. (Move to a blank line.) CURSOR [Job before Moving] [Job while Moving] [Job after Moving] [Job while CP Moving] (Main screen) [Job before Moving], [Job while Moving], [Job after Moving], [Job while CP Moving] ■...
Page 92 18.1 Job Before Moving This is a point job done before starting to move to the set point. After performing the point job at the previous point, the robot performs the “job before moving”, and then starts moving. If the previous point is a PTP Evasion Point, the robot performs the point job one more point previous, before starting to move to the PTP Evasion Point.
Page 93 18.3 Job After Moving This is a job done after the robot reaches the set point. After performing the point job, the robot moves to the next point. If a point job is set to the work home, it is performed only when the tool center point is at the work home position at the end of an operation cycle.
Page 94 If point types such as the ones below are in succession, the various point jobs are performed in a sequence such as the diagram below. P1: PTP Point P2: PTP Evasion Point P3: CP Start Point P4: CP Passing Point P5: CP Stop Point * (P1) indicates the job which is set to point 1, (P2) = point 2 and so on.
Page 95 19. PTP CONDITION (ADDITIONAL FUNCTION DATA) If you want to change the speed between only certain points in one program, or change the arch motion height etc., create the additional function data [PTP Condition] and set it to the point for which you want to change conditions.
Page 96 ■ Settable Points (: can be set, blank: cannot be set) Point Type Point Job PTP Condition No.           Functions I (Point Teaching) Desktop Robot JR3000 Cartesian Robot JC-3 SCARA Robot JS3...
Page 97 20. CP CONDITION (ADDITIONAL FUNCTION DATA) If you want to change acceleration between only certain points in one program, create the additional function data [CP Condition] and set it to the point for which you want to change conditions. The contents of additional function data CP conditions are exactly the same as program data CP conditions.
Page 98 21. POINT TOOL DATA SETTINGS (ADDITIONAL FUNCTION DATA) If you want to change the tool unit or the tool tip position between only certain points in the same program, or if the tool mass changes during a pick-and-place operation, set the additional function data [Point Tool Data Settings] to the first point of those certain points.
Page 99 After creating the additional function data [Point Tool Data Settings], set that number to points to which you want to assign this tool data. CURSOR (Move to a blank line.) [Tool Number] (Main screen) [Tool Number] You can set [Point Tool Data Settings] to the following point types: (: can be set, blank: cannot be set) Point Type Point Job...
Page 100 22. PALLET ROUTINE DATA SETTINGS When placing objects in the same location or at regular intervals (PTP points), or when systematically drawing lots of patterns (CP start points), create a [Pallet Routine] and set it to those points. (Note that the way the pallet is used differs when setting it to a CP start point and a PTP point.) The pallet is offset against a position with a counter, and as the counter advances, the offset value changes.
Page 101 22.1 Pallet Routine Types These are the following seven pallet types: Plane Top Return Pallet The [Plane Top Return Pallet] is a pallet routine that moves to the start of the next column in the series. (two-dimensional repetition): 5 Rows, 4 Columns (Example) Plane Turn Pallet The [Plane Turn Pallet] is a pallet routine that moves to a job in the same column when moving to the next column in the series.
Page 102 Circle Pallet (two-dimensional repetition) Repeat By Camera This is a pallet which the camera uses. For further details, refer to the operation manual Camera & Sensor Functions . 22.2 Parameters Depending on the pallet routine type, there are parameters that can or cannot be set. In addition to these parameters, you need to select either [Auto Increment] or [Increment by Point Job] for all pallet routines.
Page 103 For example, if you set the following pallet to Point 01 (X: 50, Y: 20, Z: 30), Pallet Routine Type: Row (5 Rows) X: 10 X: 110 Y: 100 Y: 100 Z: 0 Z: 0 The actual job points are as follows: Pallet Routine Type: Row (5 Rows) Row 1 Row 2...
Page 104 22.3 Pallet Routine Commands at Point Jobs There are two types of pallet control functions; [Auto Increment] that updates the counter automatically (the robot progresses along the sequence to the next point in the pallet) and [Increment by Point Job] that does not update the counter (the robot does not move to the next point in the pallet) unless the point job is set to renew the counter.
Page 105 22.4 PTP Point Pallet Routine When you want to place objects in the same location or at regular intervals etc., set [Pallet] to PTP point(s). For example, if you set an [Auto Increment] pallet to a PTP point, the robot will move as illustrated below.
Page 106 22.5 CP Start Point Pallet Routine Register the following points P1 – P5, and then set [Pallet Routine] to P1 (CP Start Point). P1: CP Start Point (start of dispensing) P2: CP Arc Point P3: CP Passing Point P4: CP Arc Point P5: CP End Point (end of dispensing) If you set an [Auto Increment] pallet to a [CP Start Point], the robot will move as illustrated below.
Page 107 22.6 Circle Pallet If you select [Circle Pallet] from the additional function data [Pallet Routine], you can use arc and circle pallets. Designate three points to determine the circle size and execution sequence, and you can divide the circle up with the setting [Times]. Also, you can make the circle into an arc pallet if you change [Step Angle].
Page 108 22.7 Pallet Pick-and-Place Operation Example 1: How to place an object on a pallet The tool unit picks up an object at Point 01 (P1) and places it on the pallet set to Point 02 (P2), then the robot moves to the next point (P3) once the pallet is at maximum. Register the pallet routine according to the following procedures: Pallet Teaching.
Page 109 Registered Job and Additional Function Point 01 (P1) Point 02 (P2) Point Job Number 16 Point Job Number 15 Additional Function Pallet No. 10 Example 2: How to pick up an object from the pallet The tool unit picks up an object on the pallet set to Point 01 (P1) and places it on Point 02 (P2). If all the objects are picked up and placed, the robot moves to the next point (P3).
Page 110 Example 3: pick-and-place from one pallet to another. This example explains how to set the point job data for pick-and-place operations between two pallets of different sizes. ■ Conditions • Pick up from Pallet 10 set to Point 02 (P2) and place on Pallet 11 set to Point 03 (P3). •...
Page 111 Point Job Data 06 (Set to P3) reset #genOut1 Place. incPallet 10 Add 1 to the pickup pallet counter. incPallet 11 Add 1 to the place pallet counter. ld #palletFlag (11) the place pallet is full, then goPoint PTP0, 4 move to Point 04 (P4).
Page 112 Registered Job and Additional Function Point 01 (P1) Point 02 (P2) Point Job Number 08 Point Job Number 05 Additional Function Pallet Routine Number 10 (Type: Row, Row: 3) Registered Job and Additional Function Point 03 (P3) Point 04 (P4) Point Job Number 06 Point Job Number 07 Additional Function Pallet Routine Number 11...
Page 113 ■ Conditions • Use I/O-1 #genIn1, #genIn2, #genIn3, and #genIn4 signals to determine the presence of job objects at the start of the operation. ON if the object is present and OFF if it is missing. • Use point 1 to point 4 for the job points. •...
Page 114 Example: Using the Skip Missing Job Function with a Pallet Routine This is an example of a pick-and-place operation on a pallet which the robot repeatedly picks up objects from a pre-arranged tray and places them at a given location. With such a pick-and-place operation when a tray filled with the required number of objects (4 x 3 = 12 in the example below), you can easily teach the robot to perform the pick-and-place operation using the [Plane Top Return Pallet] function.
Page 115 Set the Procedure for Determining if Objects are Missing • Check the status (whether or not there are any jobs missing) of the objects placed on the tray (pallet) and teach P1 accordingly. • Specify the P1 pallet number as 10 •...
Page 116 Set the Place Procedure • Teach the location for placing the object to P3. • Teach the following point job to point job number 8: reset #genOut1 Place the object. loopPallet 11, 2 Add 1 to the pallet 11 counter and move to the subsequent point when the counter is full.
Page 117 START Point Job Example (P1) P1, pallet 5 ld #genIn1==1* #genIn1 then goPoint 0, 3 end if Pallet Count Point Job Example (P3) Increase? wait Start BZ ld #genIn1==1* #genIn1 else resPallet 5 end if goPoint 0, 1 Pallet Reset * “==1”...
Page 118 Point Job Data 20 set #genOut3 #genOut3 comes ON. waitCondTime 800 after 0.8 seconds, endWait #genOut3 goes OFF. (Job at the base point 1) reset #genOut3 #genIn1 is ON (error), ld #genIn1 then move to Point 03 (P3). goPoint PTP2, 3 endIf Point Job Data 21 waitStartBZ...
Page 119 23. WORKPIECE ADJUSTMENT SETTINGS (NUMERIC ADJUSTMENT) With an MDI adjustment, you can move certain point positions (coordinates) by the exact numerical values you enter. Create the additional function data [Workpiece Adjustment Settings] and set it to the point position to where you want to move. For details about [Workpiece Adjustment] with a camera or a distance sensor, refer to the operation manual Camera &...
Page 120 ■ Settable Points (: can be set, blank: cannot be set) Point Type Point Job Work Adjustment No.               NOTE: • CP Start Point to CP End Point are handled as a block of points. If you set a workpiece adjustment to a CP Start Point, that workpiece adjustment affects all the points up until the CP End Point.
Page 121 24. EXECUTE CONDITION SETTINGS With [Execute Condition Settings], you can change the robot’s route according to the specified conditions. In this example, a sensor is connected to I/O-1. #genIn1(I/O-1) is entered ON/OFF according to the sensor results at Point 02 (P2), and this is retained to #mv(1) (built-in Boolean variable).
Page 122 ■ Settable Points (: can be set, blank: cannot be set) Point Type Point Job Execute Condition No.                Functions I (Point Teaching) Desktop Robot JR3000 Cartesian Robot JC-3 SCARA Robot JS3...
Page 123 25. TAG CODE You can set values (tag codes) to points. Set tag codes can be referenced within point jobs as the built-in variable “#point_TagCode.” With the dataOut command, a tag code can be output to I/O-SYS, I/O-1, I/O-H (JS3 Series only), or free Boolean variables (#mv (1 – 99) and #mkv (1 – 99)).
Page 124 ■ Point Job Data Use the dataOut command to output tag codes. When you register point job data, select the command category [ON/OFF Output Control], and select the output command dataOut → Output Tag Code. dataOut commands requires two parameters: [Output Bit Number] (I/O numbers used for output) and [Output Number] (the smallest I/O number used for output;...
Page 125 Machine specifications may be modified without prior notice to improve quality. No part of this manual may be reproduced in any form, including photocopying, reprinting, or translation into another language, without the prior written consent of JANOME. © 2014-2019, Janome Sewing Machine Co., Ltd., All rights reserved.

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